Control Performance for Dual Power Quad-Rotor in Quad-Rotor System

摘要

Quad rotor system has been developed into mature applications. Due tornbattery power constraint, the quad rotor system is limited by its payload andrnflight endurance. To overcome these drawbacks, a dual power multi-rotorrnsystem is designed by introducing dual systems of engine-driven andrnmotor-driven quad-rotors, named as Quad-in-Quad (QiQ) system. Obtainingrnfrom high thrust, gasoline engine-driven system contributes major lift forrnthe payload, while DC motor-driven system offers fast control performancernin attitude and stability. To provide stable lift, microprocessor controlrnsystem is designed and implemented to make gas engine control speedrnprecisely matching in four directions. Engine characteristic input/outputrnlinearization into multiple piecewise linear makes engine be controllablernwith simple PD controller. Control algorithm formulation by 1000 steps ofrn“throttle percentage” to smooth the engine response has been implementedrninto micro-controller and achieved precise engine RPM control for fourrnengines. The step response tests have verified four engines to accomplishrnsimilar characteristics within 2% to result in highly stable flight control forrnthe proposed QiQ system.